CN116412238B - High-precision harmonic speed reducer for robot - Google Patents
High-precision harmonic speed reducer for robot Download PDFInfo
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- CN116412238B CN116412238B CN202310676644.1A CN202310676644A CN116412238B CN 116412238 B CN116412238 B CN 116412238B CN 202310676644 A CN202310676644 A CN 202310676644A CN 116412238 B CN116412238 B CN 116412238B
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- wheel
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 44
- 238000003860 storage Methods 0.000 claims abstract description 114
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 78
- 239000010959 steel Substances 0.000 claims abstract description 78
- 238000003825 pressing Methods 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000001105 regulatory effect Effects 0.000 claims abstract description 12
- 238000007789 sealing Methods 0.000 claims description 9
- 239000000945 filler Substances 0.000 claims description 8
- 230000010405 clearance mechanism Effects 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 abstract description 14
- 239000000428 dust Substances 0.000 abstract description 11
- 230000002035 prolonged effect Effects 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000001125 extrusion Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 241000883990 Flabellum Species 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 239000011324 bead Substances 0.000 description 3
- 239000003365 glass fiber Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000004880 explosion Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
- B08B5/023—Cleaning travelling work
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/027—Gearboxes; Mounting gearing therein characterised by means for venting gearboxes, e.g. air breathers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a high-precision harmonic reducer for a robot, which relates to the technical field of harmonic reducers and comprises a steel wheel and a flexible wheel, wherein an adjusting mechanism is arranged in the flexible wheel and comprises a wave generator main body, and four limit rails are fixedly connected to the outer side wall of the wave generator main body. According to the invention, the arc-shaped pressing blocks are arranged in the rotation directions of the two regulating wheels at the long shaft positions, and the regulating mechanism is driven to rotate when the input shaft rotates, so that the regulating wheels drive the steel wheels and the flexible wheels at different directions to be meshed, the compressed air storage bag is positioned in front of the complete meshing position, air flow is output between the steel wheels and the flexible wheels in advance, dust is blown outwards, the problem that additional working noise is caused due to interference of dust between the steel wheels and the flexible wheels caused by meshing of the dust is avoided, the transmission load of the flexible wheels is reduced, the alternating stress of the flexible wheels is reduced, and the service life of the flexible wheels is prolonged.
Description
Technical Field
The invention relates to the technical field of harmonic reducers, in particular to a high-precision harmonic reducer for a robot.
Background
The precision speed reducer plays an indispensable role in general machinery, and the harmonic speed reducer is the most important one in the precision speed reducer, and is not only used for light industrial robots, but also widely applied to the fields of mechanical arms, bionic robots and the like, so that the precision and performance of the harmonic speed reducer directly influence the transmission precision and performance of the whole robot. The harmonic speed reducer mainly comprises a wave generator, a flexible gear and a rigid gear, and has the characteristics of simple structure, light weight, large transmission ratio, strong bearing capacity, high transmission precision, high transmission efficiency and the like compared with other speed reducers.
In the prior art, for example, the Chinese patent number is: the high-precision harmonic speed reducer for the robot comprises a flexible gear, a crossed roller bearing outer ring, crossed needle rollers, a crossed roller bearing inner ring and a rigid gear, wherein one end of the flexible gear is provided with a convex ring, and the outer surface of the other end of the flexible gear is provided with an outer tooth shape; the inner ring of the rigid wheel is provided with an inner tooth form, the flexible sleeve is arranged in the rigid wheel, the rigid wheel is also internally sleeved with a wave generator and a flexible bearing, and the inner tooth form is partially meshed with the outer tooth form under the action of the flexible bearing; wherein the outer ring of the crossed roller bearing is connected with the convex ring, and the inner ring of the crossed roller bearing is connected with the rigid wheel. The high-precision harmonic speed reducer for the robot has the advantages of reasonable structure, simple structure, convenience in use, large transmission ratio, large bearing capacity, small volume, light weight, small noise, small vibration, high transmission efficiency, convenience in adjusting the backlash and the like, and effectively solves the problem of low transmission precision of the speed reducer for the existing robot.
However, in the prior art, the robot for workshop production is limited by the working environment, the dust content in the air is higher, although the harmonic reducer has the characteristics of large transmission ratio, high transmission precision and the like, the flexible wheel of the harmonic reducer is periodically deformed, so that alternating stress is generated, once the dust content entering the outer surface of the steel wheel or the flexible wheel is excessive, the cooperation of the flexible wheel and the steel wheel can be seriously influenced, so that the alternating stress generated by the flexible wheel is greatly increased, the noise generated during the working of the harmonic reducer can be increased, and the surface of the flexible wheel can be broken when serious.
Disclosure of Invention
The invention aims to provide a high-precision harmonic reducer for a robot, which aims to solve the problems that the dust content on the outer surface of a steel wheel or a flexible wheel provided by the background technology is excessive, the cooperation of the flexible wheel and the steel wheel can be seriously affected, so that the alternating stress generated by the flexible wheel is greatly increased, the noise generated by the harmonic reducer during operation can be increased, and the surface of the flexible wheel is broken during serious operation.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a high-precision harmonic speed reducer for robot, includes steel wheel and flexbile gear, the inside of flexbile gear is provided with adjustment mechanism, adjustment mechanism includes the ripples generator main part, the lateral wall of ripples generator main part fixedly connected with four spacing rails, the inboard of spacing rail all is provided with the adjustment wheel, the adjustment wheel with the inside wall overlap joint of flexbile gear, the one end fixedly connected with output shaft of flexbile gear, current harmonic speed reducer's theory of operation is, the flexbile gear meshes in the inside of steel wheel, adjustment mechanism drives the flexbile gear in the inside of steel wheel, the tooth number of steel wheel is greater than the tooth number of flexbile gear, the tooth number of steel wheel is the transmission speed reduction ratio between input shaft and the output shaft with the tooth number ratio between the flexbile gear, wherein, the ripples generator sets up to oval in the prior art, its major axis one end is transmitted to the flexbile gear position, the corresponding partial tooth is transmitted to the flexbile gear position with the tooth groove of flexbile gear, the complete tooth groove separation of flexbile gear of other part, the flexbile gear tooth and the tooth groove of flexbile gear and other part are in the inside of the device, can take place in the fact that the device is in the inside of the flexbile gear is better, the device is in the fact that the ratio is in the characteristics of the device to take place, the characteristics to be convenient to have a good installation in the characteristics to have the characteristics to the device and the fact that the flexbile gear to take;
the side wall of the wave generator main body is fixedly connected with an input shaft, the outer side wall of the input shaft is rotationally connected with a motor mounting plate, a cleaning mechanism is arranged between the motor mounting plate and the wave generator main body and comprises a cleaning component and a pushing component, the cleaning component comprises a corrugated seat, the outer side wall of the corrugated seat is fixedly connected with a first sleeve, the inner side wall of the corrugated seat is fixedly connected with a second sleeve, an air storage bag is arranged between the second sleeve and the first sleeve, the outer side wall of the corrugated seat is provided with an air tap, one end of the air tap penetrates through the inner side wall of the corrugated seat and is communicated with the side wall of the air storage bag, a plurality of air taps are arranged at the position where a steel wheel and a flexible gear are meshed with each other, the arc-shaped pressing block is arranged at a position with a certain angle in front of the rotating direction, the input shaft rotates and drives the regulating mechanism to rotate, the self-locking nut drives the steel wheel and the flexible wheel to be meshed with each other in different directions, the compressed gas storage bag is positioned at the front position of complete meshing, air flow is output between the steel wheel and the flexible wheel in advance, at the moment, the steel wheel and the flexible wheel are in a partial meshing state, a narrow passage is generated by the steel wheel and the flexible wheel, the air flow speed is increased after entering the narrow passage, dust is blown out, then the regulating wheel continuously rotates, the cleaned steel wheel and the cleaned flexible wheel are further meshed until the steel wheel and the flexible wheel are separated again after complete meshing, the steel wheel and the flexible wheel are converted into a complete separation state from partial meshing, periodic change is presented, because impurities between the steel wheel and the flexible wheel are cleaned completely, no extra working noise is generated, the transmission burden of the flexible wheel is not increased, and the alternating stress of the flexible wheel is reduced, the service life of the flexible gear is prolonged;
the pushing component comprises a gas storage shell, the gas storage shell is fixedly connected with an arc-shaped pressing block, the arc-shaped pressing block and the gas storage bag are mutually overlapped, a third connecting column is fixedly connected between the gas storage shell and the input shaft, the inner side wall of the gas storage shell is slidably connected with a sliding ring, the side wall of the sliding ring is fixedly connected with a second connecting column, the second connecting column is fixedly connected with the motor mounting plate, the pushing component is arranged between the motor mounting plate and the regulating mechanism, the gas storage shell is subjected to the action effect of two directions, and synchronously rotates with the input shaft through the third connecting column, so that the gas storage shell drives the arc-shaped pressing block to rotate, meanwhile, the arc-shaped pressing block is overlapped on a corrugated seat provided with a plurality of corrugated grooves at the outer side edge and presses part of the gas storage bag, the ripple seat is to arc briquetting reaction force, make arc briquetting reciprocating motion, thereby drive gas storage shell reciprocating motion, be located the inside slip ring of gas storage shell, connect on the motor mounting panel through the second spliced pole, so the position of slip ring remains unchanged, the rotation of gas storage shell can not exert an influence to the slip ring, and the removal of gas storage shell is interacted with the slip ring, because the both ends of gas storage shell are seal structure, slip ring reciprocating motion can make the atmospheric pressure of both sides constantly change, when the arc briquetting is in ripple seat ripple groove top, slip ring right side decompression, slip ring left side pressure boost, the inside atmospheric pressure of gas storage shell promotes the gas storage shell to remove, make the gas storage shell produce the gas storage bag extrusion of constantly exerting corresponding position to arc briquetting pressure, produce continuous air current.
Preferably, a shell is arranged on the outer side of the steel wheel, the shell is fixedly connected with the motor mounting plate, and the inner side wall of the shell is fixedly connected with the outer side wall of the steel wheel.
Preferably, the bottom fixedly connected with base of shell, the inside wall of shell with ripple seat lateral wall fixedly connected with first spliced pole.
Preferably, the lateral wall fixedly connected with turbine flabellum of input shaft, the inside wall of ripple seat rotates and is connected with the deep bead, the deep bead with the lateral part fixed connection of input shaft, telescopic lateral wall fixedly connected with wind-guiding hole of second sets up the shell in the outside of steel wheel, carries out mechanical protection to the outside of steel wheel, sets up the base in the bottom of shell, when required, plays certain effect of supporting the steel wheel, and the one end of speed reducer sets up the motor mounting panel, through the installation between motor mounting panel and the motor, wherein the axle and the input shaft fixed connection of motor, the inside deep bead that sets up of ripple seat sets up of turbine flabellum in second sleeve position, and turbine flabellum is the inboard turbocharging of gas storage bag, produces high pressure to ripple seat center department, for the inside continuous gas that fills of gas storage bag.
Preferably, the outer side wall of the second connecting column is connected with a sealing ring in a sliding manner, and the outer side wall of the sliding ring is rotationally connected with the inner side wall of the gas storage shell.
Preferably, a sealing ring is fixedly connected between the gas storage shell and the second connecting column, and the steel wheel is meshed with the flexible wheel.
Preferably, the inside of gas storage bag is provided with the filler, the gas storage bag is located the wind-guiding hole position department is provided with the pneumatic valve, through filling fine etc. filler of glass at the gas storage bag inside, realize the self-expanding effect of gas storage bag, when the extrusion of arc briquetting gas storage bag, the gas storage bag space reduces, the atmospheric pressure increases, at the beginning, partial gas is discharged from the air cock, clear up steel wheel and flexbile gear, another part gas overflows from the wind-guiding hole, move to the wind-guiding hole position when the arc briquetting, realize the seal to the wind-guiding hole, make the air cock outwards exhaust.
Preferably, the side wall of the wave generator main body is provided with an arc groove, the inner side wall of the arc groove is connected with a bolt in a sliding mode, and the outer side wall of the bolt is connected with a self-locking nut in a threaded mode.
Preferably, the lateral wall fixedly connected with connecting rod of bolt, four the inside wall of spacing rail is all sliding connection has the connecting block, fixedly connected with connecting rod between the connecting block.
Preferably, the connecting rod with bolt lateral wall fixed connection, the inside wall fixedly connected with slide bar of connecting block, the regulating wheel with rotate between the slide bar and be connected.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the arc-shaped pressing blocks are arranged at the front parts of the two regulating wheels at the long shaft positions in the rotating direction, the input shafts rotate and drive the regulating mechanisms to rotate, the regulating wheels drive the steel wheels and the flexible wheels at different directions to be meshed, the gas storage bags in the compressed state are positioned at the front positions of complete meshing, air flow is output between the steel wheels and the flexible wheels in advance by one step, at the moment, the steel wheels and the flexible wheels are in a partial meshing state, a narrow channel is generated by the steel wheels and the flexible wheels, the air flow speed is increased after entering the narrow channel, dust is blown out, then the regulating wheels continuously rotate, the cleaned steel wheels and the cleaned flexible wheels are further meshed, the problem of extra working noise caused by interference of the dust of the steel wheels and the flexible wheels on the complete meshing of the steel wheels and the flexible wheels is avoided, the transmission load of the flexible wheels is reduced, the alternating stress of the flexible wheels is reduced, and the service life of the flexible wheels is prolonged.
2. According to the invention, the gas storage shell and the input shaft synchronously rotate through the third connecting column, the arc-shaped pressing block is overlapped with the corrugated seat, part of gas storage bags are pressed, the corrugated seat reacts to the arc-shaped pressing block, so that the arc-shaped pressing block drives the gas storage shell to reciprocate, the positions of the sliding rings are kept unchanged, both ends of the gas storage shell are of sealing structures, the reciprocating movement of the sliding rings can enable the air pressure at both sides to continuously change, the right side of the sliding rings is depressurized, the left side of the sliding rings is pressurized, the air pressure in the gas storage shell pushes the gas storage shell to move, the gas storage shell generates gas storage bags at corresponding positions to be continuously applied to the pressure of the arc-shaped pressing block to squeeze, continuous air flow is generated, and the synchronous position driven by the adjusting mechanism provides clean air flow to continuously clean the tooth impurities of the steel wheels.
3. According to the invention, the wind shield is arranged in the corrugated seat, the turbine fan blade is arranged at the second sleeve position, the output shaft drives the turbine fan blade to rotate, the turbine fan blade is used for turbocharging the inner side of the air storage bag, fillers such as glass fibers are filled in the air storage bag, the self-expansion effect of the air storage bag is realized, when the air storage bag is extruded by the arc-shaped pressing block, the air storage bag is reduced in space, the air pressure is increased, at first, part of air is discharged from the air tap, the steel wheel and the flexible wheel are cleaned, the other part of air overflows from the air guide hole, and when the arc-shaped pressing block moves to the air guide hole position, the sealing of the air guide hole is realized, and the air tap is discharged outwards.
4. According to the invention, the self-locking nut is separated from the wave generator main body by rotating the self-locking nut, so that the bolt can move in the circular arc groove, the bolt is moved, the connecting block in one direction is contracted inwards in the limit rail, the connecting block in the other direction is expanded outwards, the major axis and the minor axis of an ellipse are changed, after the flexible wheel is arranged in the steel wheel, the position of the adjusting wheel is adjusted, and then the self-locking nut is reversely rotated, so that the fixing effect of four adjusting wheels is realized, the flexible wheel is better matched with the steel wheel, and the installation portability of the steel wheel and the flexible wheel is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a high-precision harmonic reducer for robots according to the present invention;
FIG. 2 is a schematic diagram of the internal structure of a housing of a high-precision harmonic reducer for a robot according to the present invention;
FIG. 3 is a schematic view of the structure of a steel wheel and a flexible wheel of the high-precision harmonic reducer for robots;
FIG. 4 is a schematic diagram of a cleaning mechanism of a high-precision harmonic reducer for robots according to the present invention;
FIG. 5 is a side cross-sectional view of a cleaning mechanism of a high-precision harmonic reducer for robots of the present invention;
FIG. 6 is a schematic diagram of an adjusting mechanism of a high-precision harmonic reducer for a robot;
FIG. 7 is a schematic view showing the internal structure of a wave generator body of a high-precision harmonic reducer for robots according to the present invention;
FIG. 8 is a schematic view of a corrugated base structure of a high-precision harmonic reducer for a robot according to the present invention;
FIG. 9 is a schematic diagram of a semi-sectional structure of a gas storage shell of the high-precision harmonic speed reducer for a robot;
FIG. 10 is an explosion effect diagram of a cleaning assembly and a pushing assembly in a high-precision harmonic reducer for a robot according to the present invention;
fig. 11 is another view angle explosion effect diagram of a cleaning assembly and a pushing assembly in a high-precision harmonic reducer for a robot according to the present invention.
In the figure: 1. a base; 2. a housing; 3. a motor mounting plate; 4. an output shaft; 5. a steel wheel; 6. a flexible wheel; 7. a cleaning mechanism; 71. a first sleeve; 72. cleaning the assembly; 721. a corrugated seat; 722. an air tap; 723. a first connection post; 724. an arc-shaped pressing block; 725. a gas storage bag; 73. a pushing assembly; 731. a second connection post; 732. a slip ring; 733. a seal ring; 734. a gas storage case; 735. a third connecting column; 74. a second sleeve; 75. turbine blades; 76. an air guide hole; 77. a wind deflector; 8. an adjusting mechanism; 81. a wave generator body; 82. a bolt; 83. a limit rail; 84. a self-locking nut; 85. an adjusting wheel; 86. a connecting block; 87. a slide bar; 88. a connecting rod; 89. an arc groove; 9. an input shaft.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one: referring to fig. 1-11: the utility model provides a high-precision harmonic speed reducer for robot, includes steel wheel 5 and flexbile gear 6, flexbile gear 6's inside is provided with adjustment mechanism 8, and adjustment mechanism 8 includes wave generator main part 81, and the lateral wall of wave generator main part 81 fixedly connected with four spacing rails 83, and the inboard of spacing rail 83 all is provided with adjustment wheel 85, and adjustment wheel 85 overlaps with flexbile gear 6's inside wall, and flexbile gear 6's one end fixedly connected with output shaft 4;
the side wall of the wave generator main body 81 is fixedly connected with an input shaft 9, the outer side wall of the input shaft 9 is rotationally connected with a motor mounting plate 3, a cleaning mechanism 7 is arranged between the motor mounting plate 3 and the wave generator main body 81, the cleaning mechanism 7 comprises a cleaning component 72 and a pushing component 73, the cleaning component 72 comprises a corrugated seat 721, the outer side wall of the corrugated seat 721 is fixedly connected with a first sleeve 71, the inner side wall of the corrugated seat 721 is fixedly connected with a second sleeve 74, a gas storage bag 725 is arranged between the second sleeve 74 and the first sleeve 71, the outer side wall of the corrugated seat 721 is provided with a gas nozzle 722, and one end of the gas nozzle 722 penetrates through the inner side wall of the corrugated seat 721 and is communicated with the side wall of the gas storage bag 725;
the pushing assembly 73 comprises a gas storage shell 734, the gas storage shell 734 is fixedly connected with an arc-shaped pressing block 724, the arc-shaped pressing block 724 and the gas storage bag 725 are mutually overlapped, a third connecting column 735 is fixedly connected between the gas storage shell 734 and the input shaft 9, a sliding ring 732 is slidably connected to the inner side wall of the gas storage shell 734, a second connecting column 731 is fixedly connected to the side wall of the sliding ring 732, and the second connecting column 731 is fixedly connected with the motor mounting plate 3.
The working principle of the embodiment is as follows: in the existing harmonic speed reducer, the flexible gear 6 is meshed in the steel gear 5, the adjusting mechanism 8 drives the flexible gear 6 to be driven in the steel gear 5, the tooth number of the steel gear 5 is larger than that of the flexible gear 6, the tooth difference ratio between the tooth number of the steel gear 5 and the flexible gear 6 of the steel gear 5 is the transmission speed reduction ratio between the input shaft 9 and the output shaft 4, the wave generator in the prior art is set to be oval, one end of a long shaft of the wave generator is driven to the position of the flexible gear 6, the corresponding partial tooth is fully meshed with a tooth groove of the steel gear 5, one end of a short shaft of the wave generator is driven to the position of the flexible gear 6, the corresponding partial tooth is fully separated from the tooth groove of the steel gear 5, and the tooth grooves of the other partial flexible gear 6 and the tooth groove of the steel gear 5 are partially meshed.
The pushing component 73 is arranged between the motor mounting plate 3 and the adjusting mechanism 8, the air storage shell 734 is subjected to the action effect of two directions, the air storage shell 734 synchronously rotates with the input shaft 9 through the third connecting column 735, so that the air storage shell 734 drives the arc pressing block 724 to rotate, meanwhile, the arc pressing block 724 is lapped on the corrugated base 721 with a plurality of corrugated grooves formed in the outer side, partial air storage bags 725 are pressed, the corrugated base 721 is subjected to the reaction force on the arc pressing block 724, the arc pressing block 724 is made to reciprocate, the air storage shell 734 is driven to reciprocate, the sliding ring 732 in the air storage shell 734 is connected to the motor mounting plate 3 through the second connecting column 731, the position of the sliding ring 732 is kept unchanged, the rotation of the air storage shell 734 does not affect the sliding ring 732, and the interaction between the movement of the air storage shell 734 and the sliding ring 732 is achieved, the two ends of the air storage shell 734 are of a sealing structure, the reciprocating movement of the sliding ring can enable the air pressures on two sides to be continuously changed, when the arc pressing block 724 is positioned on the corrugated base 721, the right side of the sliding ring 732 is decompressed, the left side of the sliding ring 732 is pressurized, the pushing shell 734 is made to reciprocate, the air pressure inside the air storage shell 734 is made to move rightwards, and the air storage shell 734 is made to continuously press the air storage shell 734 to be in correspondence to the position of the pressure of the air storage shell 734.
The air storage bag 725 adopts the inside flexible filler that fills, the outer flexible material of sealed coat of parcel, the surface of air storage bag 725 can produce great deformation volume, when air storage bag 725 and ripple seat 721 cooperate the use, the corresponding crest of lateral wall laminating ripple seat 721 of one side of air storage bag 725 produces and trough, when the arc briquetting 724 rotates in the outside of air storage bag 725, the arc briquetting 724 produces the extrusion with the different positions of air storage bag 725, the air storage bag 725 undercut of pressed part aligns with the trough of ripple seat 721, thereby the air storage bag 725 of other parts is outwards diastole and keeps the planarization, the arc briquetting 724 changes to another position, the air storage bag undercut of this position goes out, the air storage bag 725 of originally being in the recess can outwards diastole resume the flat state again.
The steel wheel 5 and the flexible wheel 6 are meshed with each other, the arc-shaped pressing blocks 724 are arranged at the positions where the steel wheel 5 and the flexible wheel 6 are meshed with each other, the arc-shaped pressing blocks 724 are arranged at the positions near the two ends of the flexible wheel 6 in the long axis direction, the axes of the two arc-shaped pressing blocks 724 and the axes of the two adjusting wheels 8 are always kept at a fixed included angle, the arc-shaped pressing blocks 724 are always positioned at the front ends of the rotating directions of the adjusting wheels 8, the input shaft 9 rotates and drives the adjusting mechanism 8 to rotate, the adjusting wheels 85 drive the steel wheel 5 and the flexible wheel 6 in different directions to be meshed, the air storage bag 725 in the compressed state is positioned in the front position of complete meshing, air flow is output between the steel wheel 5 and the flexible wheel 6 in advance, at this moment, the steel wheel 5 and the flexible wheel 6 are in a partial meshing state, the air flow velocity is increased after entering the narrow channel, dust is blown out outwards, then the adjusting wheels 85 continuously rotate, the cleaned steel wheel 5 and the flexible wheel 6 are further meshed until being completely meshed, and then separated from the partial meshing is converted into a complete separation state, periodic change is shown, and the working load is not increased due to the fact that the steel wheel 5 and the flexible wheel 6 are cleaned, and the noise is not increased, and the working load is prolonged.
Embodiment two: referring to fig. 1, 2 and 8, there is shown: the outside of steel wheel 5 is provided with shell 2, fixed connection between shell 2 and the motor mounting panel 3, the inside wall of shell 2 and the lateral wall fixed connection of steel wheel 5. The bottom end fixedly connected with base 1 of shell 2, the inside wall of shell 2 and ripple seat 721 lateral wall fixedly connected with first spliced pole 723. The outer side wall of the input shaft 9 is fixedly connected with a turbine fan blade 75, the inner side wall of the corrugated base 721 is rotatably connected with a wind shield 77, the wind shield 77 is fixedly connected with the side part of the input shaft 9, and the side wall of the second sleeve 74 is fixedly connected with a wind guide hole 76.
The working principle of the embodiment is as follows: the outer side of the steel wheel 5 is provided with the shell 2, the outer side of the steel wheel 5 is mechanically protected, the bottom end of the shell 2 is provided with the base 1, when needed, the steel wheel 5 is supported to a certain extent, one end of the speed reducer is provided with the motor mounting plate 3, the motor is mounted between the motor mounting plate 3 and the motor, the shaft of the motor is fixedly connected with the input shaft 9, the inside of the corrugated seat 721 is provided with the wind shield 77, the position of the second sleeve 74 is provided with the turbine blade 75, the turbine blade 75 is used for turbocharging the inner side of the gas storage bag 725, high pressure is generated at the center of the corrugated seat 721, and gas is continuously filled into the gas storage bag 725.
Embodiment III: referring to fig. 5, 8, 9, 10 and 11: the outer sidewall of the second connection post 731 is slidably connected with a sealing ring 733, and the outer sidewall of the sliding ring 732 is rotatably connected with the inner sidewall of the air storage case 734. A sealing ring 733 is fixedly connected between the air storage shell 734 and the second connecting column 731, and the steel wheel 5 and the flexible wheel 6 are meshed with each other. The inside of the air storage bag 725 is provided with a filler, and the air storage bag 725 is provided with an air valve at the position of the air guide hole 76.
The working principle of the embodiment is as follows: through filling the filler such as glass fiber in gas storage bag 725, realize the self-expanding effect of gas storage bag 725, when arc briquetting 724 extrusion gas storage bag 725, gas storage bag 725 space reduces, and atmospheric pressure increases, and at the beginning, partial gas is discharged from air cock 722, clears up steel wheel 5 and flexspline 6, and another part gas overflows from air guide hole 76, moves to air guide hole 76 position when arc briquetting 724, realizes the sealed effect to air guide hole 76.
Embodiment four: referring to fig. 3, 6 and 7, it is shown that: the side wall of the wave generator main body 81 is provided with an arc groove 89, the inner side wall of the arc groove 89 is connected with a bolt 82 in a sliding manner, and the outer side wall of the bolt 82 is connected with a self-locking nut 84 in a threaded manner. The lateral wall fixedly connected with connecting rod 88 of bolt 82, the inside wall of four spacing rails 83 all sliding connection has connecting block 86, fixedly connected with connecting rod 88 between the connecting block 86. The connecting rod 88 is fixedly connected with the side wall of the bolt 82, the inner side wall of the connecting block 86 is fixedly connected with the sliding rod 87, and the adjusting wheel 85 is rotationally connected with the sliding rod 87.
The working principle of the embodiment is as follows: when the position of the adjusting wheel 85 is required to be adjusted, the self-locking nut 84 is reversely rotated, so that the self-locking nut 84 is separated from the wave generator main body 81, the bolt 82 can move in the arc groove 89, the bolt 82 is moved, the connecting block 86 in one direction is contracted inwards in the limit rail 83, the connecting block 86 in the other direction is expanded outwards, the long axis and the short axis of the ellipse are changed, and after the flexible wheel 6 is installed in the steel wheel 5, the position of the adjusting wheel 85 is adjusted, so that the flexible wheel 6 is better matched with the steel wheel 5.
The application method and the working principle of the device are as follows: when the flexible wheel 6 and the steel wheel 5 are installed, the self-locking nut 84 is rotated, the self-locking nut 84 is separated from the wave generator main body 81, the bolt 82 can move in the arc groove 89, the bolt 82 is moved, the four adjusting wheels 85 are located at initial positions, the four adjusting wheels 85 are placed on the inner side wall of the flexible wheel 6, the bolt 82 is moved, the connecting block 86 in one direction is contracted inwards in the limit rail 83, the connecting block 86 in the other direction is expanded outwards, teeth corresponding to the flexible wheel 6 are fully meshed with the steel wheel 5, the self-locking nut 84 is reversely rotated, the adjusting mechanism 8 is fixed, and the installation and matching precision of the flexible wheel 6 and the steel wheel 5 is improved.
The bellows 721 is internally provided with a wind shield 77, the second sleeve 74 is provided with a turbine blade 75, the turbine blade 75 turbocharges the inner side of the air storage bag 725, high pressure is generated at the center of the bellows 721, the air storage bag 725 is continuously filled with air, and the air storage bag 725 is filled with fillers such as glass fibers, so that the self-expansion effect of the air storage bag 725 is realized.
When the motor drives the input shaft 9 to rotate, the input shaft 9 drives the air storage shell 734 to rotate, so that the air storage shell 734 drives the arc pressing block 724 to rotate, and meanwhile, the arc pressing block 724 is lapped on the corrugated base 721 with a plurality of corrugated grooves formed on the outer side edge, and the partial air storage bag 725 is pressed.
Meanwhile, the corrugated base 721 reacts on the arc-shaped pressing block 724 to enable the arc-shaped pressing block 724 to reciprocate, so that the air storage shell 734 is driven to reciprocate, the sliding ring 732 reciprocates to enable the air pressure on two sides to change continuously, when the arc-shaped pressing block 724 is positioned on the corrugated groove top of the corrugated base 721, the right side of the sliding ring 732 is depressurized, the left side of the sliding ring 732 is pressurized, the air pressure in the air storage shell 734 pushes the air storage shell 734 to move to the right side, and the air storage shell 734 is enabled to generate air storage bags 725 which continuously apply the pressure of the arc-shaped pressing block 724 to the corresponding positions to squeeze, so that continuous air flow is generated.
The air tap 722 is used for outputting air flow to the teeth of the steel wheel 5, the air storage bag 725 in a compressed state is positioned in the front position of complete meshing, at the moment, the steel wheel 5 and the flexible wheel 6 are in a partial meshing state, a narrow channel is formed between the steel wheel 5 and the flexible wheel 6, the flow speed is increased after the air flow enters the narrow channel, dust is blown out outwards, extra working noise is avoided, the alternating stress of the air storage bag is reduced, and the service life of the flexible wheel is prolonged.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (7)
1. The utility model provides a high-precision harmonic speed reducer for robot, includes steel wheel (5) and flexbile gear (6), its characterized in that: an adjusting mechanism (8) is arranged in the flexible gear (6), the adjusting mechanism (8) comprises a wave generator main body (81), four limit rails (83) are fixedly connected to the outer side wall of the wave generator main body (81), adjusting wheels (85) are arranged on the inner sides of the limit rails (83), the adjusting wheels (85) are in lap joint with the inner side walls of the flexible gear (6), and an output shaft (4) is fixedly connected to one end of the flexible gear (6);
the utility model discloses a wave generator, including wave generator main part (81), wave generator main part, motor mounting panel (3), wave generator main part (81) are connected with in the lateral wall rotation of input shaft (9), be provided with clearance mechanism (7) between motor mounting panel (3) and wave generator main part (81), clearance mechanism (7) include clearance subassembly (72) and push away subassembly (73), clearance subassembly (72) include ripple seat (721), the lateral wall fixedly connected with first sleeve (71) of ripple seat (721), the inside wall fixedly connected with second sleeve (74) of ripple seat (721), be provided with air storage bag (725) between second sleeve (74) and first sleeve (71), the lateral wall of ripple seat (721) is provided with air cock (722), one end of air cock (722) runs through the inside wall of ripple seat (721) and with air storage bag (725) lateral wall intercommunication;
the pushing assembly (73) comprises a gas storage shell (734), the gas storage shell (734) is fixedly connected with an arc-shaped pressing block (724), the arc-shaped pressing block (724) is mutually overlapped with the gas storage bag (725), a third connecting column (735) is fixedly connected between the gas storage shell (734) and the input shaft (9), a sliding ring (732) is slidingly connected to the inner side wall of the gas storage shell (734), a second connecting column (731) is fixedly connected to the side wall of the sliding ring (732), and the second connecting column (731) is fixedly connected with the motor mounting plate (3);
an arc groove (89) is formed in the side wall of the wave generator main body (81), a bolt (82) is connected to the inner side wall of the arc groove (89) in a sliding mode, and a self-locking nut (84) is connected to the outer side wall of the bolt (82) in a threaded mode;
the side walls of the bolts (82) are fixedly connected with connecting rods (88), the inner side walls of the four limit rails (83) are all connected with connecting blocks (86) in a sliding mode, and the connecting rods (88) are fixedly connected between the connecting blocks (86);
the connecting rod (88) with bolt (82) lateral wall fixed connection, the inside wall fixedly connected with slide bar (87) of connecting block (86), regulating wheel (85) with rotate between slide bar (87) and be connected.
2. The high-precision harmonic reducer for robots according to claim 1, wherein: the outer side of the steel wheel (5) is provided with a shell (2), the shell (2) is fixedly connected with the motor mounting plate (3), and the inner side wall of the shell (2) is fixedly connected with the outer side wall of the steel wheel (5).
3. The high-precision harmonic reducer for robots according to claim 2, wherein: the bottom fixedly connected with base (1) of shell (2), the inside wall of shell (2) with ripple seat (721) lateral wall fixedly connected with first spliced pole (723).
4. The high-precision harmonic reducer for robots according to claim 1, wherein: the turbine fan blade (75) is fixedly connected to the outer side wall of the input shaft (9), the wind shield (77) is rotatably connected to the inner side wall of the corrugated base (721), the wind shield (77) is fixedly connected with the side portion of the input shaft (9), and the wind guide hole (76) is fixedly connected to the side wall of the second sleeve (74).
5. The high-precision harmonic reducer for robots according to claim 1, wherein: the outer side wall of the second connecting column (731) is connected with a sealing ring (733) in a sliding mode, and the outer side wall of the sliding ring (732) is connected with the inner side wall of the air storage shell (734) in a rotating mode.
6. The high-precision harmonic reducer for robots according to claim 1, wherein: and a sealing ring (733) is fixedly connected between the gas storage shell (734) and the second connecting column (731), and the steel wheel (5) and the flexible wheel (6) are meshed with each other.
7. The high-precision harmonic reducer for robots according to claim 4, wherein: the inside of gas storage bag (725) is provided with the filler, gas storage bag (725) are located wind-guiding hole (76) position department is provided with the pneumatic valve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310676644.1A CN116412238B (en) | 2023-06-08 | 2023-06-08 | High-precision harmonic speed reducer for robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310676644.1A CN116412238B (en) | 2023-06-08 | 2023-06-08 | High-precision harmonic speed reducer for robot |
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| CN116412238B true CN116412238B (en) | 2023-08-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4244524A (en) * | 1978-04-18 | 1981-01-13 | Purex Engineering Services | Epicyclic nozzle drive, an orbital nozzle unit and a hydraulic cleaning head incorporating the same |
| CN109774661A (en) * | 2017-11-14 | 2019-05-21 | 株式会社电装天 | Gas injection apparatus |
| CN113074235A (en) * | 2021-03-25 | 2021-07-06 | 永康市双智工贸有限公司 | Stress measuring device for robot harmonic reducer joint |
| CN114294380A (en) * | 2021-12-11 | 2022-04-08 | 程林 | Harmonic gear reducer |
| CN116025685A (en) * | 2023-02-08 | 2023-04-28 | 蚌埠学院 | Short cup type harmonic gear reducer |
-
2023
- 2023-06-08 CN CN202310676644.1A patent/CN116412238B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4244524A (en) * | 1978-04-18 | 1981-01-13 | Purex Engineering Services | Epicyclic nozzle drive, an orbital nozzle unit and a hydraulic cleaning head incorporating the same |
| CN109774661A (en) * | 2017-11-14 | 2019-05-21 | 株式会社电装天 | Gas injection apparatus |
| CN113074235A (en) * | 2021-03-25 | 2021-07-06 | 永康市双智工贸有限公司 | Stress measuring device for robot harmonic reducer joint |
| CN114294380A (en) * | 2021-12-11 | 2022-04-08 | 程林 | Harmonic gear reducer |
| CN116025685A (en) * | 2023-02-08 | 2023-04-28 | 蚌埠学院 | Short cup type harmonic gear reducer |
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| CN116412238A (en) | 2023-07-11 |
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